Development of a Stabilizing System for Quadcopter with Variable Thrust Vectors

The unmanned aerial vehicle created on the base of a quadcopter with the ability to control the thrust vector for each motor will have an advantage compared to the same vehicle without this option. This advantage reaches due to the possibility to create moving forces and reactions on the external excitations, without a pitch and roll angles of the whole body. With the help of a controlled thrust vector, unmanned aerial vehicles can move in space with a completely horizontal position. The horizontal position of a body allows minimizing aerodynamic impact during maneuvering. However, to control this system, it is necessary to take into account a lot of parameters and dependencies, so there are many ways to drive such a vehicle. In this article, we describe our approach to control the thrust vector for each motor.